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<div class="title">Trajectory.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef TRAJECTORY_H</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#define TRAJECTORY_H</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="preprocessor"></span><span class="preprocessor">#include&lt;eigen3/Eigen/Dense&gt;</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include&quot;robotModel.h&quot;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;</div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="keyword">using</span> Eigen::Vector3f;</div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="keyword">using</span> std::vector;</div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment">//record the trajactory of a point to calculate the acceleration  and velocity .</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"><a class="line" href="class_trajectory.html">   10</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_trajectory.html">Trajectory</a></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;{</div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;        <a class="code" href="class_trajectory.html">Trajectory</a>();</div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;        <span class="keyword">virtual</span> ~<a class="code" href="class_trajectory.html">Trajectory</a>();</div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;        <span class="keywordtype">void</span> push_back(Vector3f);</div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;        Vector3f calZMP();</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;        vector&lt;Vector3f&gt; m_points;</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;        vector&lt;Vector3f&gt; m_velocity;</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;        vector&lt;Vector3f&gt; m_accel;</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;        <span class="keywordtype">double</span> dt,H;</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    <span class="keyword">protected</span>:</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    <span class="keyword">private</span>:</div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    <span class="keyword">public</span>:</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;        EIGEN_MAKE_ALIGNED_OPERATOR_NEW</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;};</div>
<div class="line"><a name="l00029"></a><span class="lineno"><a class="line" href="class_invert_pendulum.html">   29</a></span>&#160;<span class="keyword">class </span><a class="code" href="class_invert_pendulum.html">InvertPendulum</a></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;{</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="keyword">public</span>:</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;     <a class="code" href="class_invert_pendulum.html">InvertPendulum</a>(<span class="keywordtype">double</span> x0,<span class="keywordtype">double</span> d_cm,<span class="keywordtype">double</span> h_c,<span class="keywordtype">double</span> dt=0.5);</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <span class="keywordtype">void</span> speed_up(<span class="keywordtype">double</span> t);</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    <span class="keywordtype">double</span> swing_left(<span class="keywordtype">double</span> );</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="keyword">private</span>:</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;    <span class="keywordtype">double</span> m_x0,m_d_cm,m_h_C,m_dt;</div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;    <a class="code" href="classrobot_model__three_point.html">robotModel_threePoint</a> m_rob;</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;};</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#endif // TRAJECTORY_H</span></div>
<div class="ttc" id="classrobot_model__three_point_html"><div class="ttname"><a href="classrobot_model__three_point.html">robotModel_threePoint</a></div><div class="ttdef"><b>Definition:</b> robotModel.h:82</div></div>
<div class="ttc" id="class_invert_pendulum_html"><div class="ttname"><a href="class_invert_pendulum.html">InvertPendulum</a></div><div class="ttdef"><b>Definition:</b> Trajectory.h:29</div></div>
<div class="ttc" id="class_trajectory_html"><div class="ttname"><a href="class_trajectory.html">Trajectory</a></div><div class="ttdef"><b>Definition:</b> Trajectory.h:10</div></div>
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